<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model_1point_plane.h 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('sac__model__1point__plane_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">sac_model_1point_plane.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2009, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * Author: Nico Blodow (blodow@cs.tum.edu)</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_CUDA_SAMPLE_CONSENSUS_MODEL_1POINT_PLANE_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_CUDA_SAMPLE_CONSENSUS_MODEL_1POINT_PLANE_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/cuda/sample_consensus/sac_model.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;thrust/random.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">namespace </span>cuda</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  {</div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_count_planar_inlier.html">   51</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_count_planar_inlier.html">CountPlanarInlier</a></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    {</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      float4 coefficients;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      <span class="keywordtype">float</span> threshold;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <a class="code" href="structpcl_1_1cuda_1_1_count_planar_inlier.html">CountPlanarInlier</a> (float4 coeff, <span class="keywordtype">float</span> thresh) : </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        coefficients(coeff), threshold(thresh) </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      {}</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Tuple&gt; __inline__ __host__ __device__ <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      operator () (<span class="keyword">const</span> Tuple &amp;t);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    };</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">template</span> &lt;<span class="keyword">typename</span>&gt; <span class="keyword">class </span>Storage&gt;</div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_new_check_planar_inlier.html">   66</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_new_check_planar_inlier.html">NewCheckPlanarInlier</a></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      float4 coefficients;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keywordtype">float</span> threshold;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">const</span> <span class="keyword">typename</span> Storage&lt;PointXYZRGB&gt;::type &amp;input_;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <a class="code" href="structpcl_1_1cuda_1_1_new_check_planar_inlier.html">NewCheckPlanarInlier</a> (float4 coeff, <span class="keywordtype">float</span> thresh, <span class="keyword">const</span> <span class="keyword">typename</span> Storage&lt;PointXYZRGB&gt;::type &amp;input) : </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        coefficients(coeff), threshold(thresh), input_(input)</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      {}</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      __inline__ __host__ __device__ <span class="keywordtype">int</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      operator () (<span class="keyword">const</span> <span class="keywordtype">int</span> &amp;idx);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    };</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_check_planar_inlier.html">   81</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_check_planar_inlier.html">CheckPlanarInlier</a></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    {</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      float4 coefficients;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keywordtype">float</span> threshold;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <a class="code" href="structpcl_1_1cuda_1_1_check_planar_inlier.html">CheckPlanarInlier</a> (float4 coeff, <span class="keywordtype">float</span> thresh) : </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        coefficients(coeff), threshold(thresh) </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      {}</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Tuple&gt; __inline__ __host__ __device__ <span class="keywordtype">int</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      operator () (<span class="keyword">const</span> Tuple &amp;t);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    };</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_check_planar_inlier_indices.html">   95</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_check_planar_inlier_indices.html">CheckPlanarInlierIndices</a></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      float4 coefficients;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keywordtype">float</span> threshold;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <a class="code" href="structpcl_1_1cuda_1_1_check_planar_inlier_indices.html">CheckPlanarInlierIndices</a> (float4 coeff, <span class="keywordtype">float</span> thresh) : </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        coefficients(coeff), threshold(thresh) </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      {}</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      __inline__ __host__ __device__ <span class="keywordtype">int</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      operator () (<span class="keyword">const</span> <a class="code" href="structpcl_1_1cuda_1_1_point_x_y_z_r_g_b.html">PointXYZRGB</a> &amp;pt, <span class="keyword">const</span> <span class="keywordtype">int</span> &amp;idx);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    };</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_check_planar_inlier_kinect_normal_indices.html">  109</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_check_planar_inlier_kinect_normal_indices.html">CheckPlanarInlierKinectNormalIndices</a></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    {</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      float4 coefficients;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keywordtype">float</span> threshold;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keywordtype">float</span> angle_threshold;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <a class="code" href="structpcl_1_1cuda_1_1_check_planar_inlier_kinect_normal_indices.html">CheckPlanarInlierKinectNormalIndices</a> (float4 coeff, <span class="keywordtype">float</span> thresh, <span class="keywordtype">float</span> angle_thresh) : </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        coefficients(coeff), threshold(thresh), angle_threshold (angle_thresh)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      {}</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Tuple&gt; __inline__ __host__ __device__ <span class="keywordtype">int</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      operator () (<span class="keyword">const</span> Tuple &amp;t, <span class="keyword">const</span> <span class="keywordtype">int</span> &amp;idx);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    };</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_check_planar_inlier_kinect_indices.html">  124</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_check_planar_inlier_kinect_indices.html">CheckPlanarInlierKinectIndices</a></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      float4 coefficients;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="keywordtype">float</span> threshold;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="keywordtype">float</span> angle_threshold;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <a class="code" href="structpcl_1_1cuda_1_1_check_planar_inlier_kinect_indices.html">CheckPlanarInlierKinectIndices</a> (float4 coeff, <span class="keywordtype">float</span> thresh, <span class="keywordtype">float</span> angle_thresh) : </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        coefficients(coeff), threshold(thresh), angle_threshold (angle_thresh)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      {}</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      __inline__ __host__ __device__ <span class="keywordtype">int</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      operator () (<span class="keyword">const</span> <a class="code" href="structpcl_1_1cuda_1_1_point_x_y_z_r_g_b.html">PointXYZRGB</a> &amp;pt, <span class="keyword">const</span> <span class="keywordtype">int</span> &amp;idx);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    };</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_check_planar_inlier_normal_indices.html">  139</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_check_planar_inlier_normal_indices.html">CheckPlanarInlierNormalIndices</a></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    {</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      float4 coefficients;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keywordtype">float</span> threshold;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <span class="keywordtype">float</span> angle_threshold;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <a class="code" href="structpcl_1_1cuda_1_1_check_planar_inlier_normal_indices.html">CheckPlanarInlierNormalIndices</a> (float4 coeff, <span class="keywordtype">float</span> thresh, <span class="keywordtype">float</span> angle_thresh) : </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        coefficients(coeff), threshold(thresh), angle_threshold (angle_thresh)</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      {}</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Tuple&gt;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      __inline__ __host__ __device__ <span class="keywordtype">int</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      operator () (<span class="keyword">const</span> Tuple &amp;pt, <span class="keyword">const</span> <span class="keywordtype">int</span> &amp;idx);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    };</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">template</span> &lt;<span class="keyword">typename</span>&gt; <span class="keyword">class </span>Storage&gt;</div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model1_point_plane.html">  158</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model1_point_plane.html">SampleConsensusModel1PointPlane</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt;Storage&gt;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    {</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html">SampleConsensusModel&lt;Storage&gt;::input_</a>;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html">SampleConsensusModel&lt;Storage&gt;::normals_</a>;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html">SampleConsensusModel&lt;Storage&gt;::indices_</a>;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html">SampleConsensusModel&lt;Storage&gt;::indices_stencil_</a>;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model.html">SampleConsensusModel&lt;Storage&gt;::rngl_</a>;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html">SampleConsensusModel&lt;Storage&gt;::PointCloud</a> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html">PointCloud</a>;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;Storage&gt;::Indices Indices;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;Storage&gt;::IndicesPtr IndicesPtr;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;Storage&gt;::IndicesConstPtr IndicesConstPtr;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;Storage&gt;::Coefficients Coefficients;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;Storage&gt;::Hypotheses Hypotheses;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;Storage&gt;::Samples Samples;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;SampleConsensusModel1PointPlane&gt; Ptr;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model1_point_plane.html#aaa419f94d03610ab643849973bfa474a">  185</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model1_point_plane.html#aaa419f94d03610ab643849973bfa474a">SampleConsensusModel1PointPlane</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00193"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model1_point_plane.html#a125c017e6a29b995ee74b4279cdda3e2">  193</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model1_point_plane.html#a125c017e6a29b995ee74b4279cdda3e2">getSamples</a> (<span class="keywordtype">int</span> &amp;iterations, Indices &amp;samples);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model1_point_plane.html#a3e819ba67474dd4c9ea9aa2794121ea0">  202</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model1_point_plane.html#a3e819ba67474dd4c9ea9aa2794121ea0">computeModelCoefficients</a> (<span class="keyword">const</span> Indices &amp;samples, Coefficients &amp;model_coefficients);</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        generateModelHypotheses (Hypotheses &amp;h, <span class="keywordtype">int</span> max_iterations);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        generateModelHypotheses (Hypotheses &amp;h, Samples &amp;s, <span class="keywordtype">int</span> max_iterations);</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus_model1_point_plane.html#aa746e7e9200c5feede8560c303ca91dd">  219</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model1_point_plane.html#aa746e7e9200c5feede8560c303ca91dd">selectWithinDistance</a> (<span class="keyword">const</span> Coefficients &amp;model_coefficients, </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;                              <span class="keywordtype">float</span> threshold, IndicesPtr &amp;inliers, IndicesPtr &amp;inliers_stencil);</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model1_point_plane.html#aa746e7e9200c5feede8560c303ca91dd">selectWithinDistance</a> (<span class="keyword">const</span> Hypotheses &amp;h, <span class="keywordtype">int</span> idx,</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;                              <span class="keywordtype">float</span> threshold,</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;                              IndicesPtr &amp;inliers, IndicesPtr &amp;inliers_stencil);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus_model1_point_plane.html#aa746e7e9200c5feede8560c303ca91dd">selectWithinDistance</a> (Hypotheses &amp;h, <span class="keywordtype">int</span> idx,</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;                              <span class="keywordtype">float</span> threshold,</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;                              IndicesPtr &amp;inliers_stencil,</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;                              float3 &amp;centroid);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        countWithinDistance (<span class="keyword">const</span> Coefficients &amp;model_coefficients, <span class="keywordtype">float</span> threshold);</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        countWithinDistance (<span class="keyword">const</span> Hypotheses &amp;h, <span class="keywordtype">int</span> idx, <span class="keywordtype">float</span> threshold);</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="comment">//    private:</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="comment">//      /** \brief Define the maximum number of iterations for collinearity checks */</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <span class="keyword">const</span> <span class="keyword">static</span> <span class="keywordtype">int</span> MAX_ITERATIONS_COLLINEAR = 1000;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    };</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">template</span> &lt;<span class="keyword">typename</span>&gt; <span class="keyword">class </span>Storage&gt;</div>
<div class="line"><a name="l00243"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_create1_point_plane_hypothesis.html">  243</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_create1_point_plane_hypothesis.html">Create1PointPlaneHypothesis</a></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    {</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html">SampleConsensusModel&lt;Storage&gt;::PointCloud</a> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html">PointCloud</a>;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;Storage&gt;::Indices Indices;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;Storage&gt;::IndicesConstPtr IndicesConstPtr;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1cuda_1_1_point_x_y_z_r_g_b.html">PointXYZRGB</a> *input;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> *indices;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      <span class="keywordtype">int</span> nr_indices;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <span class="keywordtype">float</span> bad_value;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      <a class="code" href="structpcl_1_1cuda_1_1_create1_point_plane_hypothesis.html">Create1PointPlaneHypothesis</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1cuda_1_1_point_x_y_z_r_g_b.html">PointXYZRGB</a> *_input, <span class="keyword">const</span> <span class="keywordtype">int</span> *_indices, <span class="keywordtype">int</span> _nr_indices, <span class="keywordtype">float</span> bad) : </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        input(_input), indices(_indices), nr_indices(_nr_indices), bad_value(bad)</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      {}</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      <span class="comment">//template &lt;typename Tuple&gt; </span></div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      __inline__ __host__ __device__ float4</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      <span class="comment">//operator () (const Tuple &amp;t);</span></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      operator () (<span class="keywordtype">int</span> t);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    };</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">template</span> &lt;<span class="keyword">typename</span>&gt; <span class="keyword">class </span>Storage&gt;</div>
<div class="line"><a name="l00267"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_create1_point_plane_sample_hypothesis.html">  267</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_create1_point_plane_sample_hypothesis.html">Create1PointPlaneSampleHypothesis</a></div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    {</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html">SampleConsensusModel&lt;Storage&gt;::PointCloud</a> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html">PointCloud</a>;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;Storage&gt;::Indices Indices;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;Storage&gt;::IndicesConstPtr IndicesConstPtr;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1cuda_1_1_point_x_y_z_r_g_b.html">PointXYZRGB</a> *input;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <span class="keyword">const</span> float4 *normals_;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> *indices;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      <span class="keywordtype">int</span> width_;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      <span class="keywordtype">int</span> height_;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      <span class="keywordtype">int</span> nr_indices;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      <span class="keywordtype">float</span> bad_value;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      thrust::default_random_engine rng;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      <a class="code" href="structpcl_1_1cuda_1_1_create1_point_plane_sample_hypothesis.html">Create1PointPlaneSampleHypothesis</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1cuda_1_1_point_x_y_z_r_g_b.html">PointXYZRGB</a> *_input, <span class="keyword">const</span> float4* normals, <span class="keyword">const</span> <span class="keywordtype">int</span> *_indices, <span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height, <span class="keywordtype">int</span> _nr_indices, <span class="keywordtype">float</span> bad) : </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;        input(_input), normals_(normals), indices(_indices), width_(width), height_(height), nr_indices(_nr_indices), bad_value(bad)</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      {</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      }</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      <span class="comment">//template &lt;typename Tuple&gt; </span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      __inline__ __host__ __device__ thrust::tuple&lt;int,float4&gt;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      <span class="comment">//operator () (const Tuple &amp;t);</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      operator () (<span class="keywordtype">int</span> t);</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    };</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1parallel__random__generator.html">  294</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1parallel__random__generator.html">parallel_random_generator</a> </div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    { </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      __inline__ __host__ __device__ </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      <a class="code" href="structpcl_1_1cuda_1_1parallel__random__generator.html">parallel_random_generator</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> seed) </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      { </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        m_seed = seed; </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      } </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      __inline__ __host__ __device__ </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> operator()(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> n)<span class="keyword"> const </span></div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="keyword">      </span>{ </div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        thrust::default_random_engine rng(m_seed); </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        <span class="comment">// discard n numbers to avoid correlation </span></div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        rng.discard(n); </div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        <span class="comment">// return a random number </span></div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;        <span class="keywordflow">return</span> rng(); </div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      } </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> m_seed; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    }; </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  } <span class="comment">// namespace</span></div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;} <span class="comment">// namespace</span></div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_CUDA_SAMPLE_CONSENSUS_MODEL_PLANE_H_</span></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_point_cloud_a_o_s_html"><div class="ttname"><a href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html">pcl::cuda::PointCloudAOS</a></div><div class="ttdef"><b>Definition:</b> point_cloud.h:134</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model1_point_plane_html"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model1_point_plane.html">pcl::cuda::SampleConsensusModel1PointPlane</a></div><div class="ttdoc">SampleConsensusModel1PointPlane defines a model for 3D plane segmentation.</div><div class="ttdef"><b>Definition:</b> sac_model_1point_plane.h:159</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model1_point_plane_html_a125c017e6a29b995ee74b4279cdda3e2"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model1_point_plane.html#a125c017e6a29b995ee74b4279cdda3e2">pcl::cuda::SampleConsensusModel1PointPlane::getSamples</a></div><div class="ttdeci">void getSamples(int &amp;iterations, Indices &amp;samples)</div><div class="ttdoc">Get 3 random non-collinear points as data samples and return them as point indices.</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model1_point_plane_html_a3e819ba67474dd4c9ea9aa2794121ea0"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model1_point_plane.html#a3e819ba67474dd4c9ea9aa2794121ea0">pcl::cuda::SampleConsensusModel1PointPlane::computeModelCoefficients</a></div><div class="ttdeci">bool computeModelCoefficients(const Indices &amp;samples, Coefficients &amp;model_coefficients)</div><div class="ttdoc">Check whether the given index samples can form a valid plane model, compute the model coefficients fr...</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model1_point_plane_html_aa746e7e9200c5feede8560c303ca91dd"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model1_point_plane.html#aa746e7e9200c5feede8560c303ca91dd">pcl::cuda::SampleConsensusModel1PointPlane::selectWithinDistance</a></div><div class="ttdeci">int selectWithinDistance(const Coefficients &amp;model_coefficients, float threshold, IndicesPtr &amp;inliers, IndicesPtr &amp;inliers_stencil)</div><div class="ttdoc">Select all the points which respect the given model coefficients as inliers.</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model1_point_plane_html_aaa419f94d03610ab643849973bfa474a"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model1_point_plane.html#aaa419f94d03610ab643849973bfa474a">pcl::cuda::SampleConsensusModel1PointPlane::SampleConsensusModel1PointPlane</a></div><div class="ttdeci">SampleConsensusModel1PointPlane(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Constructor for base SampleConsensusModel1PointPlane.</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_model_html"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus_model.html">pcl::cuda::SampleConsensusModel</a></div><div class="ttdoc">SampleConsensusModel represents the base model class. All sample consensus models must inherit from t...</div><div class="ttdef"><b>Definition:</b> sac_model.h:89</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_check_planar_inlier_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_check_planar_inlier.html">pcl::cuda::CheckPlanarInlier</a></div><div class="ttdoc">Check if a certain tuple is a point inlier.</div><div class="ttdef"><b>Definition:</b> sac_model_1point_plane.h:82</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_check_planar_inlier_indices_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_check_planar_inlier_indices.html">pcl::cuda::CheckPlanarInlierIndices</a></div><div class="ttdoc">Check if a certain tuple is a point inlier.</div><div class="ttdef"><b>Definition:</b> sac_model_1point_plane.h:96</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_check_planar_inlier_kinect_indices_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_check_planar_inlier_kinect_indices.html">pcl::cuda::CheckPlanarInlierKinectIndices</a></div><div class="ttdoc">Check if a certain tuple is a point inlier.</div><div class="ttdef"><b>Definition:</b> sac_model_1point_plane.h:125</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_check_planar_inlier_kinect_normal_indices_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_check_planar_inlier_kinect_normal_indices.html">pcl::cuda::CheckPlanarInlierKinectNormalIndices</a></div><div class="ttdoc">Check if a certain tuple is a point inlier.</div><div class="ttdef"><b>Definition:</b> sac_model_1point_plane.h:110</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_check_planar_inlier_normal_indices_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_check_planar_inlier_normal_indices.html">pcl::cuda::CheckPlanarInlierNormalIndices</a></div><div class="ttdoc">Check if a certain tuple is a point inlier.</div><div class="ttdef"><b>Definition:</b> sac_model_1point_plane.h:140</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_count_planar_inlier_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_count_planar_inlier.html">pcl::cuda::CountPlanarInlier</a></div><div class="ttdoc">Check if a certain tuple is a point inlier.</div><div class="ttdef"><b>Definition:</b> sac_model_1point_plane.h:52</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_create1_point_plane_hypothesis_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_create1_point_plane_hypothesis.html">pcl::cuda::Create1PointPlaneHypothesis</a></div><div class="ttdoc">Check if a certain tuple is a point inlier.</div><div class="ttdef"><b>Definition:</b> sac_model_1point_plane.h:244</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_create1_point_plane_sample_hypothesis_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_create1_point_plane_sample_hypothesis.html">pcl::cuda::Create1PointPlaneSampleHypothesis</a></div><div class="ttdoc">Check if a certain tuple is a point inlier.</div><div class="ttdef"><b>Definition:</b> sac_model_1point_plane.h:268</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_new_check_planar_inlier_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_new_check_planar_inlier.html">pcl::cuda::NewCheckPlanarInlier</a></div><div class="ttdoc">Check if a certain tuple is a point inlier.</div><div class="ttdef"><b>Definition:</b> sac_model_1point_plane.h:67</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_point_x_y_z_r_g_b_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_point_x_y_z_r_g_b.html">pcl::cuda::PointXYZRGB</a></div><div class="ttdoc">Default point xyz-rgb structure.</div><div class="ttdef"><b>Definition:</b> point_types.h:50</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1parallel__random__generator_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1parallel__random__generator.html">pcl::cuda::parallel_random_generator</a></div><div class="ttdef"><b>Definition:</b> sac_model_1point_plane.h:295</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_7f72761faf76ad5b97d7f36c114afa29.html">cuda</a></li><li class="navelem"><a class="el" href="dir_7fceace15b029e600e6dcee393fa441b.html">sample_consensus</a></li><li class="navelem"><a class="el" href="dir_4fef05afcda2995604b77c68b939071a.html">include</a></li><li class="navelem"><a class="el" href="dir_a3ce7ebc5800500c35816806cde7c9e1.html">pcl</a></li><li class="navelem"><a class="el" href="dir_f23ed66a05496a59f59b32759a007bc1.html">cuda</a></li><li class="navelem"><a class="el" href="dir_ad8658c51129aeeb57a0b4cad24dce06.html">sample_consensus</a></li><li class="navelem"><b>sac_model_1point_plane.h</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
